JP7029923B2 - Unit with rotation mechanism - Google Patents

Description

The present invention relates to a unit with a rotation mechanism capable of correcting runout around the axis of a movable body.

When an image pickup device mounted on a moving vehicle such as a traveling vehicle or a flying object captures a landscape while moving, it is desirable that the horizontal line in the captured image is projected horizontally regardless of the posture of the moving object. Therefore, even if the moving body is tilted, it has been proposed to cancel the tilting and make the image pickup device mounted on the moving body horizontal. Patent Document 1 discloses a stabilizer for photographing. In the stabilizer of Patent Document 1, an inertial sensor is mounted on a fixing member to which an image pickup apparatus is fixed. The fixing member is rotated in two directions orthogonal to each other by a first motor connected to the first rotation axis and a second motor connected to a second rotation axis orthogonal to the first rotation axis. In Patent Document 1, the inertial sensor detects the angular velocity and acceleration when the camera tilts, and adjusts the drive current of the motor to correct the tilt of the image pickup device. Further, it is also possible to correct the inclination in the three orthogonal directions by using the third motor connected to the first rotation axis and the third rotation axis orthogonal to the second rotation axis.

Japanese Unexamined Patent Publication No. 2015-177539

In Patent Document 1, the rotation axis to which the motor is connected is deviated from the center of gravity of the movable body (imaging device and fixing member). Therefore, when the moving body is tilted and the movable body is tilted, kinetic energy corresponding to the inertia and the angular acceleration of the movable body is generated around the axis of rotation to which the motor is connected. Therefore, in order to correct the inclination of the image pickup device, the torque of the motor needs to be large enough to cancel the generated kinetic energy. Therefore, a motor having sufficient torque is required, and the size of the motor increases and the power consumption also increases. As a result, the device for tilt correction becomes large. Further, in the case of a portable device, there is also a problem that the battery becomes large.

In view of the above problems, an object of the present invention is to correct the inclination of the movable body around the axis with a motor having a small torque in the unit with a rotating mechanism for rotating the movable body.

In order to solve the above problems, the unit with a rotation mechanism according to the present invention includes a movable body, a support that rotatably supports the movable body around the axis, and a rotational drive that rotates the movable body around the axis. The rotary drive mechanism comprises a mechanism, and the rotary drive mechanism includes a motor that is a drive source, and the motor includes a rotor portion that is integrated with the movable body and rotates around the axis, and the movable body and the rotor. The center of gravity of the rotating body provided with the portion is located on the axis, and the movable body includes a balance adjusting portion for adjusting the center of gravity of the rotating body and a substrate on which electronic components are mounted, and supports the movable body. The body comprises a cover that covers the substrate, and the cover comprises a stopper that comes into contact with the substrate and regulates the rotation range of the movable body .

In the present invention, the movable body and the rotor portion of the motor are connected so as to rotate integrally around the axis. Since the center of gravity of the rotating body is located on the axis of the rotating body (center axis of rotation), the torque required to maintain the posture of the movable body is mechanical loss such as friction during rotation (so-called shaft loss). ) It may be a larger torque. Therefore, regardless of the total inertia of the movable body and the rotor portion, the posture of the movable body can be maintained as long as the motor has a torque larger than the shaft loss. Therefore, when correcting the inclination of the movable body, it is not necessary to use a motor having a large torque, and the posture of the movable body can be maintained by a small motor. In addition, the power consumption for maintaining the posture of the movable body can be reduced.

Further, according to the present invention, the movable body includes a balance adjusting unit for adjusting the center of gravity of the rotating body . Therefore , it is possible to realize a configuration in which the center of gravity of the rotating body is located on the axis by adjusting the deviation of the center of gravity due to the dimensional error of the parts and the assembly error. In addition, the center of gravity of the rotating body can be accurately aligned on the axis. Therefore, the torque required to rotate the movable body can be reduced as compared with the case where the center of gravity of the rotating body is not located on the axis, and the inclination of the movable body can be corrected by a motor having a small torque.
Further, in the present invention, since the support is provided with a stopper that comes into contact with the movable body and regulates the rotation range of the movable body, the rotation range can be reliably regulated. That is, in the present invention, the movable body includes a substrate, the support includes a cover that covers the substrate, and the cover includes a stopper that comes into contact with the substrate and regulates the rotation range of the movable body. Therefore, since the stopper is not regulated when the cover is removed, the movable body can be rotated to adjust the balance. Further, since the stopper can be configured only by attaching the cover, the stopper mechanism can be easily configured.

In the present invention, the balance adjusting unit is a weight adjusting member that constitutes a part of the movable body, and can be configured to adjust the center of gravity of the rotating body by removing a part of the weight adjusting member. .. For example, the center of gravity can be adjusted by scraping the weight adjusting member. In this way, it is not necessary to prepare a weight of another member for weight adjustment. Therefore, the number of parts can be reduced. In addition, the position and amount of the weight adjusting member to be scraped have a high degree of freedom in adjustment and can be finely adjusted. Therefore, the center of gravity can be adjusted with high accuracy.

In the present invention, as the balance adjusting unit, a configuration including a weight and a weight arranging unit to which the weight is fixed can be adopted. In this way, the position of the weight and one or both of the mounting weights can be adjusted to adjust the center of gravity of the rotating body.

In this case, the weight may adopt a configuration in which the weight is fixed to the weight arrangement portion by soldering. Fixing with solder does not require a curing time as in the case of fixing with an adhesive, so that the time for the weight adjusting step can be shortened. Further, since the weight can be finely adjusted by the amount of solder, the center of gravity can be adjusted with high accuracy.

Alternatively, the weight may adopt a configuration made of solder. When the weight is adjusted by the amount of solder piled up, fine adjustment is possible, so that the center of gravity can be adjusted with high accuracy. Further, since the solder does not require a curing time unlike an adhesive, the time of the weight adjusting step can be shortened. Further, since it is not necessary to separately prepare the weight of the solid member, the number of parts can be reduced and the inventory of parts dedicated to adjustment can be reduced. In addition, since the solder has a large specific gravity, the center of gravity can be adjusted with a small amount.

In this case, the weight arranging portion can adopt the configuration provided on the substrate. In this way, the degree of freedom in arranging the weights is high. Further, since the weight arrangement portion is provided on the substrate, it is easy to adjust the weight by soldering. Further, it is preferable that the substrate includes an extending portion extending radially outward about the axis, and the balance adjusting portion is provided in the extending portion. In this way, the weight can be placed at a position away from the axis. Therefore, the positional deviation of the center of gravity with respect to the axis can be adjusted with a small weight amount. Further, by providing the extending portion, it is possible to easily secure a space for arranging the weight on the substrate.

In the present invention, the movable body can adopt a configuration which is an optical module including an optical element, a holder for holding the optical element, and an image pickup element in which light passing through the optical element is incident. In this way, the unit with a rotation mechanism can be used as an image pickup device, and the tilt of the optical module in the image pickup device can be corrected. Therefore, when the image pickup device is mounted on a moving body, the optical module is tilted even if the moving body is tilted. Can maintain the posture of. Therefore, it is possible to suppress the disturbance of the captured image due to the tilt of the moving body.

In the present invention, the movable body is an optical module including an optical element, a holder for holding the optical element, and an image pickup element in which light passing through the optical element is incident, and the balance adjusting unit is the holder. It is possible to adopt the configuration provided in. In this way, the unit with a rotation mechanism can be used as an image pickup device, and the inclination of the optical module in the image pickup device can be corrected. Therefore, when the image pickup device is mounted on the moving body, it is possible to suppress the disturbance of the captured image due to the tilt of the moving body. Further, by providing the balance adjusting portion in the holder that holds the optical element, it is possible to suppress the increase in the radial size of the movable body, and the balance adjusting portion can be provided compactly. Therefore, it is possible to prevent the outer shape of the device from becoming larger in the radial direction.

In the present invention, the movable body can adopt a configuration including a transmitting unit that emits a radar wave and a receiving unit that receives a reflection component of the radar wave. In this way, the unit with a rotation mechanism can be used as a radar device, and the inclination of the transmitting unit and the receiving unit in the radar device can be corrected. Therefore, for example, when a radar device for detecting an obstacle is mounted on a moving body, the posture of the radar device can be maintained even if the moving body is tilted. Therefore, it is possible to suppress the disturbance of the obstacle detection result due to the inclination of the moving body, and it is possible to accurately detect the obstacle.

In the present invention, when the angular acceleration in the relative position rotation of the support and the movable body around the axis is θ'', the inertia of the rotating body is J, and the maximum torque of the motor is Tmax. It is characterized by satisfying the following formula (A).
θ'' ・ J> Tmax ・ ・ ・ ・ (A)
In this way, the inclination of the movable body can be corrected by a motor having a torque smaller than the moment of inertia of the rotating body. Therefore, the posture of the movable body can be maintained by the motor having the minimum necessary torque.

In the present invention, the support has a fixing surface for fixing the support to the moving body, has an inertial sensor for detecting the inclination of the moving body around the axis, and the rotation driving mechanism is the same. It is preferable to maintain the posture of the movable body based on the detection result of the inertial sensor. Further, it is preferable that the inertial sensor detects the angular velocity and acceleration of the moving body or the support. By doing so, the inclination of the movable body can be corrected with high accuracy based on the detection result of the inertial sensor. Further, the support can be fixed to the moving body via the fixing surface of the support, and the unit with a rotation mechanism can be controlled by the moving body. In addition, the posture of the movable body of the unit with a rotation mechanism mounted on the moving body can be maintained.

According to the present invention, the movable body and the rotor portion of the motor are connected so as to rotate integrally around the axis. Since the center of gravity of the rotating body is located on the axis of the rotating body (center axis of rotation), the torque required to maintain the posture of the movable body is larger than the frictional resistance (so-called shaft loss) generated during rotation. It may be torque. Therefore, regardless of the total weight of the movable body and the rotor portion, the posture of the movable body can be maintained as long as the motor has a torque larger than the shaft loss. Therefore, when correcting the inclination of the movable body, it is not necessary to use a motor having a large torque, and the posture of the movable body can be maintained by a small motor. In addition, the power consumption for maintaining the posture of the movable body can be reduced.
Further, according to the present invention, the movable body includes a balance adjusting unit for adjusting the center of gravity of the rotating body. Therefore, it is possible to realize a configuration in which the center of gravity of the rotating body is located on the axis by adjusting the deviation of the center of gravity due to the dimensional error of the parts and the assembly error. In addition, the center of gravity of the rotating body can be accurately aligned on the axis. Therefore, the center of gravity of the rotating body is not located on the axis.
The torque required to rotate the movable body can be reduced as compared with the case, and the inclination of the movable body can be corrected by a motor having a small torque.
Further, in the present invention, since the support is provided with a stopper that comes into contact with the movable body and regulates the rotation range of the movable body, the rotation range can be reliably regulated. That is, in the present invention, the movable body includes a substrate, the support includes a cover that covers the substrate, and the cover includes a stopper that comes into contact with the substrate and regulates the rotation range of the movable body. Therefore, since the stopper is not regulated when the cover is removed, the movable body can be rotated to adjust the balance. Further, since the stopper can be configured only by attaching the cover, the stopper mechanism can be easily configured.

It is an exploded perspective view of the unit with a rotation mechanism to which this invention is applied. It is sectional drawing of the unit with a rotation mechanism. It is a front view and the rear view of the unit with a rotation mechanism with a cover removed. It is an exploded perspective view of a movable body and a rotation drive mechanism.

Hereinafter, embodiments of a unit with a rotation mechanism to which the present invention is applied will be described with reference to the drawings. FIG. 1 is an exploded perspective view of a unit with a rotation mechanism to which the present invention is applied, and FIG. 2 is a cross-sectional view of the unit with a rotation mechanism of FIG. 1 (AA cross-sectional view of FIG. 1). The unit 1 with a rotation mechanism includes a support 2, a movable body 3 rotatably supported around the axis L by the support 2, a rotation drive mechanism 4 that rotates the movable body 3 around the axis L, and an inertial sensor 5. It is equipped with.

In the present specification, the three directions orthogonal to each other are defined as the X direction, the Y direction, and the Z direction. Further, one side in the X direction is X1, the other side is X2, one side in the Y direction is Y1, the other side is Y2, one side in the Z direction is Z1, and the other side is Z2. The Z direction is a direction along the axis L. The unit 1 with a rotation mechanism of this embodiment is an image pickup device, and the movable body 3 includes an optical module 10 for image pickup. The axis L of the movable body 3 coincides with the optical axis of the optical module 10. Further, one side Z1 in the Z direction is the subject side L1 of the optical module 10, and the other side Z1 in the Z direction is the anti-subject side L2. The rotation of the movable body 3 around the axis L corresponds to the rotation (rolling) of the optical module 10 around the optical axis.

The unit 1 with a rotation mechanism (imaging device) is mounted on a moving body such as a vehicle or a flying object. Alternatively, it is attached to the head of a person on a moving body and used as a wearable terminal. The unit 1 with a rotation mechanism has a posture in which the axis L (optical axis) is directed in the front-rear direction as a reference posture. In the reference posture, the X direction is the left-right direction and the Y direction is the up-down direction. Further, the XZ plane is a horizontal plane.

In the unit 1 with a rotation mechanism (imaging device), when the moving body is tilted from the reference posture during traveling or flight, the movable body 3 may rotate and tilt around the axis L (optical axis). For example, when a two-wheeled vehicle equipped with a unit 1 with a rotating mechanism is driven while tilting with respect to the road surface, or when a drone equipped with a unit 1 with a rotating mechanism is rotated, the movable body 3 is on the axis L. On the other hand, since the captured image is distorted due to tilting, the quality of the captured image deteriorates. Therefore, in the unit 1 with a rotation mechanism, the inertial sensor 5 is used to perform rolling correction for correcting the inclination of the movable body 3 based on the detection result (angular velocity and acceleration) of the inertial sensor 5.

(Support)
As shown in FIGS. 1 and 2, the support 2 includes a base plate 21 and a cover 22. When the base plate 21 and the cover 22 are assembled, a case 20 having a substantially rectangular shape when viewed from the Z direction (axis L direction) is configured. A movable body 3 and a rotation drive mechanism 4 are housed inside the case 20. Further, the support 2 includes a part of the rotation drive mechanism 4 fixed to the base plate 21.

(Case)
The base plate 21 includes a plate-shaped base body 211 that is perpendicular to the Z direction, and a frame portion 212 that protrudes to one side Z1 in the Z direction is formed inside the outer peripheral edge of the base body 211. ing. A step portion 213 is formed on the outer peripheral surface of the frame portion 212 at an intermediate position in the Z direction. Further, fixing protrusions 214 protruding toward the outer peripheral side are formed at three locations on the outer peripheral edge of the base main body 211. The fixing protrusions 214 are provided on three sides of the base body 211 excluding the upper side (one side Y1 in the Y direction). The fixing protrusion 214 is formed with a fixing hole 215 for fixing the unit 1 with a rotation mechanism to the moving body. The surface of the base body 211 on the other side Z2 in the Z direction is a fixed surface 216 perpendicular to the axis L. The unit 1 with a rotation mechanism is fixed to the moving body by bringing the fixing surface 216 into contact with the moving body. Further, the fixing protrusion 214 is formed with a positioning hole 217 on the inner peripheral side of the fixing hole 215.

The cover 22 has a rectangular end plate portion 221 perpendicular to the Z direction, a side plate portion 222 extending from the outer peripheral edge of the end plate portion 221 toward the other side Z2 in the Z direction, and an end plate portion 221 in the X direction. A convex portion 223 protruding from substantially the center to one side Z1 in the Z direction is provided. The convex portion 223 is formed at a position closer to Y1 on one side (closer to the upper side in the reference posture) of the end plate portion 221 in the Y direction. The convex portion 223 is circular when viewed from the Z direction, and is formed in a cylindrical shape whose diameter decreases toward the tip side. A circular window portion 224 is formed at the tip of the convex portion 223, and a cover glass 225 is fixed to the window portion 224. In the unit 1 with a rotation mechanism, the central axis of the convex portion 223 coincides with the axis L which is the optical axis of the optical module 10.

As shown in FIG. 2, the base plate 21 and the cover 22 are assembled so that the frame portion 212 of the base plate 21 fits inside the side plate portion 222 of the cover 22. A step portion 226 extending toward the outer peripheral side is formed at an intermediate position of the side plate portion 222 in the Z direction. A sealing member 23 such as an O-ring is arranged between the step portion 226 on the cover 22 side and the step portion 213 on the base plate 21 side. Further, in the side plate portion 222 of the cover 22, a positioning protrusion 227 is formed at a position facing the positioning hole 217 of the base plate 21 in the Z direction. When assembling the cover 22 to the base plate 21, the positioning protrusion 227 is fitted into the positioning hole 217.

(Rotation drive mechanism)
The rotation drive mechanism 4 includes a motor 40. The motor 40 of this embodiment is a three-phase permanent magnet motor. As shown in FIG. 2, the motor 40 is arranged so that the axis L of the movable body 3 (the optical axis of the optical module 10) and the rotation axis of the motor 40 coincide with each other. The motor 40 includes a motor board 41, a motor body 40A arranged substantially in the center of the motor board 41, and a motor control unit (not shown) mounted on the motor board 41. The motor board 41 is arranged inside the frame portion 212 of the base plate 21, and its four corners are fixed to the base main body 211. The inertial sensor 5 is mounted at a predetermined position on the motor substrate 41, for example, at the position shown by the broken line shown in FIGS. 1 and 2. The motor control unit drives the motor body 40A based on the detection result of the inertial sensor 5. A connector 411 is provided on the motor board 41, and one end of the flexible printed circuit board 50 is connected to the connector 411. The flexible printed circuit board 50 is pulled out from the connector 411 to the surface of the base main body 211.

The motor body 40A includes a tubular sleeve 42 fixed to a motor fixing hole 412 formed in the motor substrate 41, and a first bearing 43A and a second bearing held at one end and the other end of the sleeve 42 in the axis L direction. It includes a 43B, a rotor portion 44 rotatably supported by the first bearing 43A and the second bearing 43B, and a stator portion 45 fixed to the motor substrate 41 via a sleeve 42. The stator portion 45 includes an annular stator core 451 having a plurality of salient poles protruding in the radial direction about the axis L, and a coil 452 wound around each salient pole of the stator core 451.

The rotor portion 44 includes a rotating shaft 46 extending in the L direction of the axis, a rotor case 47 fixed to the rotating shaft 46, and a magnet 48 fixed to the rotor case 47. The rotary shaft 46 is rotatably supported by the first bearing 43A and the second bearing 43B. The rotor case 47 is a cup provided with a circular plate portion 471 perpendicular to the axis L and a cylindrical portion 472 extending from the outer peripheral edge of the circular plate portion 471 toward the motor substrate 41 side (the other side Z2 in the Z direction). It is a member of the shape. The magnet 48 is fixed to the inner peripheral surface of the tubular portion 472. A circular hole is opened in the center of the circular plate portion 471, and an annular portion 473 that rises from the edge of the hole to the side opposite to the motor substrate 41 (one side Z1 in the Z direction) is formed.

The rotor case 47 is fixed to the rotary shaft 46 by fitting the end of the Z1 on one side of the rotary shaft 46 in the Z direction to the inside of the annular portion 473. The rotor case 47 covers the stator portion 45 from one side Z1 in the Z direction, and the magnet 48 faces the salient pole of the stator portion 45 in the radial direction. The end of the Z2 on the other side of the rotating shaft 46 in the Z direction protrudes from the second bearing 43B toward the other side Z2 in the Z direction. Further, an annular spacer 49 is arranged between the first bearing 43A and the circular plate portion 471 of the rotor case.

In the rotary drive mechanism 4, the motor substrate 41 is fixed to the base plate 21, and the sleeve 42, the first bearing 43A and the second bearing 43B, and the stator portion 45 are also fixed to the base plate 21 via the sleeve 42. That is, the motor substrate 41, the sleeve 42, the first bearing 43A and the second bearing 43B, and the stator portion 45 form a part of the support 2. On the other hand, as will be described later, the rotor portion 44 is coupled to the movable body 3 provided with the optical module 10, and is configured to be integrated with the movable body 3 and rotate around the axis L.

3A and 3B are a front view and a rear view of the unit 1 with a rotation mechanism from which the cover 22 is removed, FIG. 3A is a front view (a view seen from one side Z1 in the Z direction), and FIG. 3B is a view. Is a rear view (a view seen from the other side Z2 in the Z direction). As shown in FIG. 3B, the base main body 211 is formed with wiring holes 24 and 25 at two locations. The wiring hole 24 is a circular hole, and the wiring hole 25 is a substantially rectangular hole long in the X direction. On the back surface side of the base plate 21, a cylindrical portion 26 surrounding the wiring hole 25 projects to the other side Z2 in the Z direction (see FIG. 1). As shown in FIG. 3A, the flexible printed substrate 50 for the motor 40 is arranged so as to cover the wiring hole 25 opened at the bottom of the base plate 21. As shown in FIG. 3B, the terminal pin 51 connected to the flexible printed board 50 projects from the flexible printed board 50 to the inside of the tubular portion 26.

(Movable body)
FIG. 4 is an exploded perspective view of the movable body 3 and the rotation drive mechanism 4. The movable body 3 includes an optical module 10 and a coupling plate 6. The coupling plate 6 is arranged between the optical module 10 and the rotor portion 44. In this embodiment, a direct drive system is adopted in which the movable body 3 is configured to rotate integrally with the rotor portion 44. The coupling plate 6 is, for example, a metal plate, and as shown in FIG. 2, abuts on the circular plate portion 471 of the rotor case 47 from one side Z1 in the Z direction, and is fixed to the rotor case 47 by welding or the like. In addition, it may be fixed by screw fixing instead of welding. The annular portion 473 of the rotor case 47 fits into the circular hole 61 provided in the coupling plate 6.

The optical module 10 includes a lens unit 11, a holder 12 that holds the lens unit 11, a sensor substrate 13 fixed to the end of the holder 12 on the opposite side L2 (the other side Z2 in the Z direction), and a sensor substrate 13. The image pickup device 14 mounted on the vehicle is provided. An electronic component other than the image pickup device 14 may be mounted on the sensor substrate 13. The lens unit 11 is configured by assembling a lens 15, which is an optical element, to a lens barrel 16. The image pickup device 14 is arranged on the axis L that coincides with the optical axis of the optical module 10. That is, the image pickup device 14 is arranged so that the light that has passed through the lens 15 of the lens unit 11 is incident. As shown in FIGS. 1 and 4, the holder 12 is a member having a rectangular parallelepiped outer shape, and holds an end portion of the lens unit 11 on the anti-subject side L2.

As shown in FIG. 2, the sensor substrate 13 abuts on the coupling plate 6 from one side Z1 in the Z direction and is fixed to the coupling plate 6. As a result, the optical module 10 and the rotor portion 44 are integrated via the coupling plate 6. The optical module 10, the coupling plate 6, and the rotor portion 44 constitute a rotating body 7 that rotates integrally. When the optical module 10 is fixed to the rotor portion 44 via the coupling plate 6, the optical module 10 is arranged inside the convex portion 223 formed on the cover 22. The lens unit 11 is arranged coaxially with the convex portion 223, and the tip of the lens unit 11 faces the window portion 224 provided at the tip of the convex portion 223. Therefore, the image can be taken by the optical module 10 through the window portion 224.

In this embodiment, the coupling plate 6 is positioned with respect to the rotor portion 44 via the annular portion 473 of the rotor case 47. Further, the coupling plate 6 and the sensor substrate 13 are properly positioned and fixed by a positioning mechanism (not shown), and as a result, the optical axis (axis line L) of the optical module 10 and the rotation axis of the rotor portion 44 coincide with each other. It is assembled to do. That is, the movable body 3 provided with the optical module 10 and the coupling plate 6 and the rotor portion 44 form a rotating body 7 that rotates integrally, and the rotating body 7 is configured to rotate around the axis L. ing. By coupling the optical module 10 and the rotor portion 44 via the coupling plate 6 without directly fixing the optical module 10 and the rotor portion 44, the optical axis (axis line L) of the optical module 10 and the rotor portion 44 rotate. It becomes easy to provide a positioning structure for aligning with the axis.

As shown in FIG. 4, the sensor substrate 13 includes a circular substrate central portion 131 and extending portions 132 and 133 extending radially outward from the substrate central portion 131. The extending portions 132 and 133 extend radially outward with respect to the axis L, and extend radially outward with reference to the axis L. A connector 134 is mounted on the extending portion 132 extending to one side X1 in the X direction. One end of the flexible printed board 52 for the sensor is connected to the connector 134. As shown in FIGS. 1 and 3, the flexible printed circuit board 52 is pulled out from the connector 134 to one side Y1 in the Y direction, then bent at a substantially right angle and extends toward the base main body 211, and is on the outer peripheral side of the motor main body 40A. It is routed in the circumferential direction and connected to the connector member 53 attached to the wiring hole 24 (see FIG. 3B) of the base main body 211. Since the flexible printed circuit board 52 for the sensor is bent and routed in a substantially U shape as a whole, the flexible printed circuit board 52 is deformed when the optical module 10 rotates around the axis L, and the sensor board 13 Rotation around the axis L is allowed.

(Stopper mechanism)
The coupling plate 6 is one size larger than the sensor substrate 13 and has a similar shape to the sensor substrate 13. The coupling plate 6 has a circular portion that overlaps with the central portion 131 of the sensor substrate 13 and a rectangular portion that overlaps with the extending portions 132 and 133 of the sensor substrate 13 and extends outward in the radial direction. Is supported from the other side Z2 in the Z direction. When the movable body 3 is integrated with the rotor portion 44 and rotates around the axis L, the extending portions 132, 133 of the sensor substrate 13 and the portion of the coupling plate 6 that overlaps with this portion rotate about the axis L.

As shown in FIG. 2, the support 2 is formed with a stopper 29 that protrudes from the back surface of the end plate portion 221 of the cover 22 to the other side Z2 in the Z direction. The stopper 29 protrudes from the sensor substrate 13 and the coupling plate 6 to the other side Z2 in the Z direction. Further, the stopper 29 is provided in the radial direction of the rectangular portion of the coupling plate 6 extending radially outward in a shape overlapping the extending portions 132 and 133 of the sensor substrate 13 and the extending portions 132 and 133. It is provided at a position closer to the axis L (inner in the radial direction) than the outer end. Therefore, when the movable body 3 rotates around the axis L, in the sensor substrate 13 and the coupling plate 6, the extending portions 132, 133 of the sensor substrate 13 and the rectangular portions of the coupling plate 6 interfere with the stopper 29, and the movable body 3 is the movable body 3. The rotation range of is regulated. That is, in this embodiment, the stopper 29 constitutes a stopper mechanism that regulates the rotation range of the movable body 3.

(Balance adjustment section)
In the sensor substrate 13, a balance adjusting portion 8 for adjusting the center of gravity is provided on the extending portion 133 extending from the central portion 131 of the substrate to the other side X2 in the X direction. The balance adjusting unit 8 includes a weight 81 and a weight arranging unit 82 to which the weight 81 is fixed. In this embodiment, on the surface of the extending portion 133 of the sensor substrate 13, the weight arranging portion 82 is provided in the region on the tip end side away from the axis L. The weight 81 is fixed to the weight arrangement portion 82 by soldering. The balance adjusting unit 8 is configured to be able to adjust the number and weight of the weights 81 fixed to the weight arranging unit 82, or the weight of the solder used for fixing. The unit 1 with a rotating mechanism adjusts the number and weight of the weights 81 in the balance adjusting unit 8 at the time of manufacture so that the center of gravity G of the rotating body 7 is positioned on the axis L of the rotating body 7. .. When adjusting the center of gravity, not only the number and weight of the weights 81 but also the amount of solder can be adjusted. Further, the center of gravity can be adjusted by shifting the position where the weight 81 is fixed.

When adjusting the center of gravity of the rotating body 7, the cover 22 of the unit 1 with a rotating mechanism is removed so that the rotation is not restricted by the stopper 29, and the unit 1 with a rotating mechanism is installed in the reference posture in this state. The movable body 3 is rotated to inspect the deviation of the center of gravity.

In this embodiment, the center of gravity is adjusted so that the center of gravity G of the rotating body 7 is located on the axis L. In such a configuration, the torque required to maintain the posture of the movable body 3 exceeds the mechanical loss (so-called shaft loss) such as friction generated in the portion where the rotor portion 44 and the support 2 are in contact with each other. It may be torque. That is, it is not necessary to rotate the rotating body 7 with a torque corresponding to the inertia of the rotating body 7, and the torque of the motor 40 can be determined only in consideration of the shaft loss. For example, when the moving body equipped with the unit 1 with a rotation mechanism is tilted, the movable body 3 rotates relative to the support body 2 around the axis L, but the support body when the relative position rotation around the axis L occurs. When the angular acceleration of 2 and the moving body is θ'', the inertia of the rotating body 7 is J, and the maximum torque of the motor 40 is Tmax, the motor 40 satisfying the following equation (A) can be used.
θ'' ・ J> Tmax ・ ・ ・ ・ (A)

The meaning of the formula (A) is that when the center of gravity G of the rotating body 7 deviates from the axis L, the motor used for rolling correction is more than the torque (θ ″ · J) required to rotate the rotating body 7. It means that the maximum torque Tmax of 40 is small. The mechanical loss (so-called shaft loss) such as friction generated at the portion where the rotor portion 44 and the support 2 are in contact with each other is smaller than the required torque for rotating the rotating body 7 against the moment of inertia. Therefore, in this embodiment, the rolling correction can be performed by using the motor 40 having a small torque.

(Control when performing rolling correction)
In the unit 1 with a rotation mechanism, a motor control unit (not shown) is mounted on the motor board 41. The motor control unit drives the motor 40 based on the detection result of the inertial sensor 5 to perform rolling correction. In this embodiment, the inertial sensor 5 is mounted on the support 2. Therefore, the inertia sensor 5 detects the inclination of the support 2 with respect to the horizontal plane. For example, the inertial sensor 5 detects the angular velocity of the support 2 and the acceleration of the support 2 as information regarding the tilt when the support 2 is tilted. The motor control unit drives the motor 40 in a direction that corrects the inclination obtained based on the angular velocity and acceleration detected by the inertial sensor 5. As a result, the movable body 3 can maintain the reference posture.

(Main effect of this form)
As described above, the unit 1 with a rotation mechanism of the present embodiment can rotate the movable body 3 provided with the optical module 10 for imaging and the movable body 3 around the axis L coincided with the optical axis of the optical module 10. It has a support 2 to support, and when mounted on a vehicle or a flying object, the unit 1 with a rotation mechanism is fixed to the moving body via the support 2. The unit 1 with a rotation mechanism includes a rotation drive mechanism 4 that rotates the movable body 3 around the axis L, and the rotation drive mechanism 4 includes an inertial sensor 5 and a motor 40. Therefore, the motor 40 can be driven to perform rolling correction based on the detection result of the inertial sensor 5, and the inclination of the movable body 3 can be corrected with high accuracy. As a result, the posture of the movable body 3 can be maintained even when the moving body is tilted, and the disorder of the captured image can be suppressed.

In this embodiment, the movable body 3 and the rotor portion 44 of the motor 40 are connected so as to rotate integrally around the axis L. That is, the movable body 3 and the rotor portion 44 form a rotating body 7 that rotates integrally around the axis L. The center of gravity of the rotating body 7 is adjusted so that the center of gravity G is located on the axis L of the rotating body 7. As a result, the unit 1 with a rotation mechanism need only have a torque required for maintaining the posture of the movable body 3 at the time of rolling correction, which is larger than the frictional resistance (so-called shaft loss) generated during rotation. Therefore, the maximum torque of the motor 40 can be reduced, and the posture of the movable body 3 can be maintained by the motor 40 having a small torque. As a result, the unit 1 with a rotating mechanism can be miniaturized and power can be saved.

For example, in this embodiment, the angular acceleration in the relative position rotation of the support 2 and the movable body 3 around the axis L is θ'', the inertia of the rotating body 7 is J, and it is a drive source for performing rolling correction. When the maximum torque of the motor 40 is Tmax, the motor 40 is selected so as to satisfy the following formula (A).
θ'' ・ J> Tmax ・ ・ ・ ・ (A)
That is, in this embodiment, since the inclination of the movable body 3 can be corrected by the motor 40 having a torque smaller than the moment of inertia of the rotating body 7, the posture of the movable body 3 can be maintained by the motor 40 having the minimum necessary torque. can. Therefore, the posture of the movable body 3 can be maintained by the motor 40 having a small torque.

Since the movable body 3 of the present embodiment includes a balance adjusting unit 8 for adjusting the center of gravity G of the rotating body 7, the center of gravity of the rotating body 7 can be adjusted by adjusting the deviation of the center of gravity due to a dimensional error of parts, an assembly error, or the like. It is possible to realize a configuration in which G is located on the axis L. The balance adjusting unit 8 includes a weight 81 and a weight arranging unit 82 for attaching the weight 81. Therefore, the center of gravity G of the rotating body 7 can be adjusted by adjusting one or both of the position of the weight 81 and the mounting weight.

In this embodiment, the weight arrangement portion 82 is provided on the sensor substrate 13. Therefore, the degree of freedom in arranging the weight 81 is high. Further, when fixing the weight 81, it can be fixed with solder. Fixing with solder does not require a curing time as in the case of fixing with an adhesive, so that the time of the weight adjusting step can be shortened. Further, since the weight can be finely adjusted by the amount of solder, the center of gravity can be adjusted with high accuracy.

In the present embodiment, since the weight arranging portion 82 is provided on the extending portion 133 of the sensor substrate 13, the weight 81 can be arranged at a position away from the axis L. Therefore, the balance can be adjusted with a small amount of weight. Further, by providing the extending portion 133, it is possible to easily secure a space for arranging the weight 81 on the sensor substrate 13. Further, the extension portion 133 is also used as a stopper mechanism for regulating the rotation range of the movable body 3, and by arranging the stopper 29 protruding from the cover 22 at a position where it interferes with the extension portion 133, the movable body The rotation range of 3 is regulated. Therefore, the stopper mechanism can be configured only by assembling the cover 22, and the rotation range of the movable body 3 can be reliably regulated. Further, since the rotation restriction can be released by removing the cover 22, the movable body 3 can be rotated with the cover 22 removed to adjust the balance.

(Modification example)
(1) Instead of using the weight 81 of the solid member prepared in advance, solder can be used as the weight 81. If the weight 81 is composed of only solder, it is not necessary to separately prepare the weight 81 as a solid member, so that the number of parts can be reduced and the inventory of parts dedicated to adjustment can be reduced. In addition, since the solder has a large specific gravity, the center of gravity can be adjusted with a small amount. Further, if it is solder, fine adjustment is easy. Therefore, the balance can be adjusted with high accuracy. It should be noted that other paste-like weights may be used instead of solder. For example, a so-called conductive paste in which metal particles are mixed with an epoxy resin can be used as a weight.

(2) The balance adjusting unit 8 may be provided on the holder 12 instead of the sensor board 13. For example, the outer peripheral surface of the holder 12 can be used as a weight arranging portion, and the weight can be fixed to the outer peripheral surface of the holder 12. Since the holder 12 that holds the lens unit 11 has a small radial dimension, it is possible to prevent the size of the movable body 3 from increasing in the radial direction by providing the balance adjusting portion 8 in the holder 12. Therefore, it is possible to prevent the outer shape of the unit 1 with a rotation mechanism from becoming larger in the radial direction.

(3) Instead of attaching the weight 81 to the weight arranging unit 82, the balance adjusting unit 8 is configured to remove a part of the weight adjusting member constituting a part of the movable body 3 to adjust the deviation of the center of gravity. Can be done. For example, a shaving margin may be provided on the entire circumference of the holder 12, and a part of the shaving margin may be scraped to adjust the weight. By doing so, since it is not necessary to separately prepare weights for separate members, the number of parts can be reduced and the inventory of parts can be reduced. Moreover, since the amount of scraping can be finely adjusted, the balance can be adjusted with high accuracy.

(4) In the above embodiment, the inertial sensor 5 is fixed to the support 2, but the inertial sensor 5 may be provided on a moving body on which the unit 1 with a rotation mechanism is mounted. Since the support 2 is fixed to the moving body, the rolling correction of the movable body 3 can be performed based on the angular velocity and acceleration of the moving body.

(5) The unit 1 with a rotation mechanism of the above embodiment is configured to perform only rolling correction, which is a runout correction around the axis L, but in addition to the rolling correction, a first axis orthogonal to the axis L and a first axis. It may be configured to perform runout correction around two axes of the axis L and the second axis orthogonal to the first axis. For example, a swing support mechanism is provided between the motor board 41 and the base plate 21 to rotatably support the motor board 41 around the X axis and the Y axis, and the motor board 41 is supported by the X axis with respect to the base plate 21. A swing drive mechanism that rotates around and around the Y axis can be provided. By doing so, it is possible to perform runout correction in the pitch direction and runout correction in the yaw direction.

(6) In the above embodiment, the axis L, which is the rotation center line of the rotating body 7, coincides with the optical axis, but the axis L does not have to coincide with the optical axis. Even if the axis L is deviated from the optical axis of the optical module 10, the balance adjusting unit 8 can position the center of gravity G on the axis L.

(Other embodiments)
In the above embodiment, the movable body 3 is provided with an optical module 10 for image pickup, and the unit 1 with a rotation mechanism is used as an image pickup device, but the present invention can be applied to other than the image pickup device. For example, it can be applied to a radar device such as a millimeter wave radar or a laser radar. In this case, the movable body 3 may be configured to include a transmitting unit that emits radar waves and a receiving unit that receives reflection components of radar waves. By applying the present invention to a radar device, it is possible to correct the inclination of the transmitting unit and the receiving unit in the radar device. Therefore, for example, when a radar device for detecting an obstacle is mounted on a moving body, the posture of the transmitting unit and the receiving unit can be maintained even if the moving body is tilted. Therefore, it is possible to suppress the disturbance of the obstacle detection result due to the inclination of the moving body, and it is possible to accurately detect the obstacle.

1 ... Unit with rotation mechanism, 2 ... Support, 3 ... Movable body, 4 ... Rotation drive mechanism, 5 ... Inertivity sensor, 6 ... Coupling plate, 7 ... Rotating body, 8 ... Balance adjustment unit, 10 ... Optical module, 11 ... lens unit, 12 ... holder, 13 ... sensor board, 14 ... image pickup element, 15 ... lens, 16 ... lens barrel, 20 ... case, 21 ... base plate, 22 ... cover, 23 ... seal member, 24, 25 ... wiring holes , 26 ... tubular part, 29 ... stopper, 40 ... motor, 40A ... motor body, 41 ... motor board, 42 ... sleeve, 43A ... first bearing, 43B ... second bearing, 44 ... rotor part, 45 ... stator part , 46 ... Rotating shaft, 47 ... Rotor case, 48 ... Magnet, 49 ... Spacer, 50 ... Flexible printed circuit board for motor, 51 ... Terminal pin, 52 ... Flexible printed circuit board for sensor, 53 ... Connector member, 61 ... Circular Hole, 81 ... Weight, 82 ... Weight arrangement part, 131 ... Board center part, 132, 133 ... Extension part, 134 ... Connector, 211 ... Base body, 212 ... Frame part, 213 ... Step part, 214 ... Fixing protrusion , 215 ... Fixed hole, 216 ... Fixed surface, 217 ... Positioning hole, 221 ... End plate part, 222 ... Side plate part, 223 ... Convex part, 224 ... Window part, 225 ... Cover glass, 226 ... Step part, 227 ... Positioning Projection 411 ... Connector, 412 ... Motor fixing hole, 451 ... Stator core, 452 ... Coil, 471 ... Circular plate part, 472 ... Cylindrical part, 473 ... Circular part, G ... Center of gravity, L ... Axis line, L1 ... Subject side, L2 ... Anti-subject side

Claims (14)

Movable body and
A support that rotatably supports the movable body around the axis, and
It has a rotation drive mechanism that rotates the movable body around the axis.
The rotary drive mechanism includes a motor that is a drive source.
The motor includes a rotor portion that is integrated with the movable body and rotates around the axis.
The center of gravity of the movable body and the rotating body provided with the rotor portion is located on the axis.
The movable body includes a balance adjusting unit for adjusting the center of gravity of the rotating body, and a substrate on which electronic components are mounted.
The support comprises a cover covering the substrate.
The cover is a unit with a rotation mechanism, which is provided with a stopper that comes into contact with the substrate and regulates the rotation range of the movable body . The balance adjusting unit is a weight adjusting member that constitutes a part of the movable body.
The unit with a rotation mechanism according to claim 1 , wherein a part of the weight adjusting member is removed to adjust the center of gravity of the rotating body. The unit with a rotation mechanism according to claim 1 , wherein the balance adjusting unit includes a weight and a weight arranging unit to which the weight is fixed. The unit with a rotation mechanism according to claim 3 , wherein the weight is fixed to the weight arrangement portion by soldering. The unit with a rotation mechanism according to claim 3 , wherein the weight is made of solder. The unit with a rotation mechanism according to claim 4 or 5 , wherein the weight arrangement portion is provided on the substrate. The substrate includes an extension portion extending radially outward about the axis.
The unit with a rotation mechanism according to claim 1 , wherein the balance adjusting portion is provided in the extending portion. Any of claims 1 to 7 , wherein the movable body is an optical module including an optical element, a holder for holding the optical element, and an image pickup element in which light passing through the optical element is incident. The unit with a rotation mechanism described in item 1. The movable body is an optical module including an optical element, a holder for holding the optical element, and an image pickup element in which light passing through the optical element is incident.
The unit with a rotation mechanism according to any one of claims 1 to 7 , wherein the balance adjusting unit is provided in the holder. The unit with a rotation mechanism according to claim 8 or 9 , wherein the optical axis of the optical module coincides with the axis. The unit with a rotation mechanism according to any one of claims 1 to 7 , wherein the movable body includes a transmission unit that emits a radar wave and a reception unit that receives a reflection component of the radar wave. When the angular acceleration in the relative position rotation of the support and the movable body around the axis is θ'', the inertia of the rotating body is J, and the maximum torque of the motor is Tmax, the following equation ( The unit with a rotation mechanism according to any one of claims 1 to 11 , wherein A) is satisfied.
θ'' ・ J> Tmax ・ ・ ・ ・ (A) The support comprises a fixing surface for fixing the support to a moving body.
It has an inertial sensor that detects the inclination of the moving body or the support around the axis.
The unit with a rotation mechanism according to any one of claims 1 to 12 , wherein the rotation drive mechanism maintains the posture of the movable body based on the detection result of the inertial sensor. The unit with a rotation mechanism according to claim 13 , wherein the inertial sensor detects an angular velocity and an acceleration of the moving body or the support.

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